This paper describes the requirements, and the mechanization of the GPS-INS integration into the AC130U's integrated fire control system. Then gives a brief description of the basic avionic architecture and the modification made in support of this implementation. The paper will then discuss the mechanization and - innovative application of time proven Kalman filter techniques to solve the problems associated with data latency on the MlL-STD-l 553 bus, computer duty cycle limitations, and outline the requirements imposed by the AC-130U Gunship environment. The mechanization satisfies the requirements for high velocity and attitude accuracy; high data rate; fault tolerance; and graceful degradation of accuracy and capability as equipment fails; extended firing orbits with large angles of attack and sideslip; and immediate recovery and reconfiguration following the loss of the primary mission computer.
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